Hydraulic humanoid robot leg structure driven by blade swing cylinder and direct drive valve group

Abstract

The invention discloses a hydraulic humanoid robot leg structure driven by a blade swing cylinder and a direct-drive valve bank, which comprises a thigh structure, a shank structure and a foot plate structure, the thigh structure is provided with a direct-drive multi-way valve bank, the end part of the thigh structure is provided with a hip joint blade swing cylinder actuator and a hip joint yaw shaft piston cylinder actuator, and the hip joint yaw shaft piston cylinder actuator is provided with a hip joint blade swing cylinder. A knee joint pitch shaft blade swing cylinder actuator is installed at the end of the shank structure, and a piston cylinder actuator is installed on the shank structure. By adopting the hydraulic driving scheme of combining the precise blade oscillating cylinder and the piston cylinder and concentrating the servo valve group on the outer side of the thigh, the defects of the existing technical schemes of speed reducer motor driving, lead screw electric cylinders, traditional hydraulic piston cylinders and the like in high-load, high-speed movement and long-term use are successfully overcome. The lower limb structure of the humanoid robot has the characteristics of high torque output, high-speed rotation, excellent heat dissipation and durability, low electromagnetic interference and the like, and provides higher flexibility, reliability and adaptability for the lower limb structure of the humanoid robot.

Description

Technical Field

[0001] The present invention relates to the technical field of the leg structure of a hydraulic humanoid robot, and particularly relates to a leg structure of a hydraulic humanoid robot driven by a vane swing cylinder and a direct drive valve group. Background Art

[0002] In the prior art, the lower limb structure of a humanoid robot usually adopts the following several actuators as joint drivers: 1 planetary / harmonic / cycloidal reducer motor, 2 planetary roller screw electric cylinder, 3 motor wire flexible joint, 4 hydraulic piston cylinder integrated with a servo valve, 5 low-pressure liquid / pneumatic tendon. The deficiencies of these several technical solutions are as follows:

[0003] 1. The solution of combining a planetary reducer, a harmonic reducer and a cycloidal reducer with a motor: These solutions have a series of problems. The torque output is limited by the motor power and the reducer efficiency, resulting in inability to meet the requirements under high loads. Secondly, the reducer limits the output speed and it is difficult to cope with high dynamic response and high-speed motion scenarios. Moreover, the motor overheats at high power consumption, reducing the efficiency and affecting the long-term stability and reliability. In addition, long-term high-load operation causes wear of gears and bearings, reducing the durability, and the electromagnetic interference of the motor may affect surrounding devices. The motor is prone to overheating problems and demagnetization of magnetic steel during long-term operation, and the lubricating oil of the gear system is prone to emulsification, resulting in reduced efficiency and system failures. These problems limit the performance of the robot in complex environments and its ability to operate for a long time. At the same time, the gear contact stress concentration is prone to cause wear or fracture, the reverse drive is difficult and the energy consumption is high, especially when maintaining the static standing of the robot, it needs to consume power continuously. Moreover, there is no self-locking mechanism, and the robot will suddenly fall down and be damaged when the power is cut off.

[0004] 2. Planetary roller screw electric cylinder: Although this solution has the ability of high-precision positioning, its mechanical transmission chain is complex, resulting in a large volume and high weight of the actuator, which limits the lightweight and motion flexibility of the robot; at the same time, the inertial delay and elastic deformation brought by multi-stage transmission significantly weaken the dynamic response performance and it is difficult to support high-explosion actions such as jumping and sudden stop. Moreover, the rigid contact structure is prone to wear or jamming under impact loads, and it depends on continuous power supply to maintain the position, resulting in low energy efficiency. The precision screw is sensitive to dust and humidity, and the long-term maintenance cost is high. Moreover, the linear actuator of the electric cylinder type requires more link transmission mechanisms to amplify the joint rotation angle of the robot, occupying more space in the robot leg.

[0005] 3. Motor Cable Flexible Joint: For robots using motor-cable flexible joint drives, there are problems such as complex cable routing, large weight, mechanical complexity, limited motion range, cable slack, and poor durability. The cables are very expensive and will undergo irreversible tensile elongation after a certain period of use, resulting in inability to continue use. The cable system requires daily delicate maintenance, and the friction and slack of the cables will lead to a decrease in control accuracy, affecting the performance of the robot.

[0006] 4. Hydraulic Piston Cylinder Integrated with Servo Valve: There are some problems and deficiencies in the application of the existing hydraulic piston cylinder and integrated servo valve in the lower limb structure of humanoid robots. First, the linear motion of the hydraulic piston cylinder limits the flexibility and motion range of the robot. Similar to the electric cylinder, more linkage mechanisms are needed to amplify the joint rotation angle, occupying more space. Second, the complexity of the integrated system leads to higher maintenance costs, concentrates the weight on the actuator, and fails to concentrate the center of gravity of the robot's lower limbs. This design will disperse the weight to the end of the limb, and the joint needs to overcome greater inertia, thus slowing down the motion speed (like having fat on the human calf and foot). Especially for the metal 3D-printed housing of such actuators, the cost is high, the production is slow, and the strength is not as good as that of traditional manufacturing methods in mass production.

[0007] 5. Low-Pressure Liquid / Pneumatic Tendon: The pneumatic muscle actuator is an actuator that covers a rubber tube with a deformable fabric sleeve and uses the deformation and contraction after inflation. The robot lower limbs driven by it have problems such as low efficiency, complex control, poor backdrivability, need for compressed air supply, limited accuracy and response time, poor durability, and safety hazards. Specifically, the pressure of the pneumatic muscle actuator is 0.7 MPa during operation, and its efficiency is usually low, resulting in energy waste; its non-linear characteristics make the control system design complex; the inability to be backdriven limits the flexibility of the robot; and a bulky compressed air supply system is needed, increasing the overall complexity and reducing the portability. In addition, the components are easily damaged, the maintenance requirements are high, and there are safety risks of leakage and explosion. Summary of the Invention

[0008] In order to at least solve or partially solve the above problems, a hydraulic humanoid robot leg structure driven by a vane swing cylinder and a direct drive valve group is provided.

[0009] To achieve the above object, the present invention provides the following technical solutions:

[0010] A leg structure of a hydraulic humanoid robot driven by a vane swing cylinder and a direct drive valve group according to the present invention includes a thigh structure, a calf structure, and a foot plate structure, characterized in that a direct drive multi-way valve group is installed on the thigh structure, the direct drive multi-way valve group includes a left direct drive multi-way valve group and a right direct drive multi-way valve group, the left direct drive multi-way valve group and the right direct drive multi-way valve group are respectively located on the left and right sides of the thigh structure, an actuator of a hip joint vane swing cylinder and an actuator of a hip joint yaw axis piston cylinder are installed at the end of the thigh structure, an actuator of a knee joint pitch axis vane swing cylinder is installed at the end of the calf structure, a piston cylinder actuator is installed on the calf structure, and the direct drive multi-way valve group is respectively connected to the actuator of the hip joint vane swing cylinder, the actuator of the hip joint yaw axis piston cylinder, the actuator of the knee joint pitch axis vane swing cylinder, and the piston cylinder actuator.

[0011] As a preferred technical solution of the present invention, the actuator of the hip joint vane swing cylinder includes an actuator of a hip joint Roll axis vane swing cylinder and an actuator of a hip joint pitch axis vane swing cylinder, the actuator of the hip joint yaw axis piston cylinder includes a right hip joint yaw axis piston cylinder actuator and a left hip joint yaw axis piston cylinder actuator, the right hip joint yaw axis piston cylinder actuator and the left hip joint yaw axis piston cylinder actuator present an overlapping x-shaped layout, and the sizes of the actuator of the hip joint Roll axis vane swing cylinder, the actuator of the hip joint pitch axis vane swing cylinder, and the actuator of the knee joint pitch axis vane swing cylinder are all different.

[0012] As a preferred technical solution of the present invention, a hip joint main frame is installed between the actuators of the hip joint yaw axis piston cylinder, a hip joint piston rod is installed at one end of the actuator of the hip joint yaw axis piston cylinder, actuators of the hip joint Roll axis vane swing cylinder are installed on both sides of the hip joint main frame, a hip joint Roll axis encoder is installed at the top of the actuator of the hip joint Roll axis vane swing cylinder, a hip joint actuator trunnion is installed outside the actuator of the hip joint Roll axis vane swing cylinder, a hip joint rocker arm is installed outside the hip joint actuator trunnion, a hip joint oil circuit distribution block is installed on the hip joint main frame, and connection pipe heads of the piston cylinder and the valve group are distributed on the hip joint oil circuit distribution block.

[0013] As a preferred technical solution of the present invention, the actuator of the hip joint Roll axis vane swing cylinder includes a swing cylinder body, a rear end cover is installed on one side of the swing cylinder body, a swing cylinder shaft is installed between the rear end cover and the swing cylinder body, a swing cylinder front cover centering cover is installed on the other side of the swing cylinder body, a swing cylinder bearing cover is installed on one side of the swing cylinder front cover centering cover, a rocker arm stop piece is installed on one side of the swing cylinder bearing cover, and an encoder is installed on one side of the rear end cover.

[0014] As a preferred technical solution of the present invention, the direct drive multi-way valve group includes a spool servo reduction motor, and the spool servo reduction motor includes a motor and a control board. The control board is installed on one side of the motor, a servo motor potentiometer is installed at the bottom of the control board, a servo motor reduction gear set is installed at the bottom of the servo motor potentiometer, a servo motor seat is installed at the bottom of the servo motor reduction gear set, a valve body is installed at the bottom of the spool servo reduction motor, a servo motor rudder arm is installed inside one end of the valve body where the spool servo reduction motor is located, a servo motor rudder arm pin is installed at the bottom of the servo motor rudder arm, a spool chute drive slider is installed at the bottom of the servo motor rudder arm pin, a spool is installed on one side of the spool chute drive slider, a direct drive valve group front cover plate is installed on one side of the spool, and valve group main oil inlet pipe joints, piston cylinder oil pipe joints and swing cylinder oil pipe joints are distributed on the spool.

[0015] As a preferred technical solution of the present invention, the hip pitch axis vane swing cylinder actuator includes a hip pitch axis swing cylinder body, a hip pitch axis swing cylinder centering cover is installed on one side of the hip pitch axis swing cylinder body, a hip pitch axis swing cylinder shaft is installed between the hip pitch axis swing cylinder centering cover and the hip pitch axis swing cylinder body, a hip pitch axis swing cylinder end cover is installed on the other side of the hip pitch axis swing cylinder body, hip pitch axis swing cylinder dampers are distributed on the hip pitch axis swing cylinder end cover, a hip pitch axis swing cylinder oil inlet pipe joint is installed on the hip pitch axis swing cylinder damper, and a hip pitch axis encoder is installed on one side of the hip pitch axis swing cylinder centering cover.

[0016] The knee pitch axis vane swing cylinder actuator includes a knee pitch axis swing cylinder body, a knee pitch axis swing cylinder centering cover is installed on one side of the knee pitch axis swing cylinder body, a knee pitch axis swing cylinder shaft is installed between the knee pitch axis swing cylinder centering cover and the knee pitch axis swing cylinder body, a knee pitch axis swing cylinder end cover is installed on the other side of the knee pitch axis swing cylinder body, knee pitch axis swing cylinder dampers are distributed on the knee pitch axis swing cylinder end cover, and a knee pitch axis encoder is installed on the knee pitch axis swing cylinder end cover.

[0017] As a preferred technical solution of the present invention, the hip pitch axis vane swing cylinder actuator and the knee pitch axis vane swing cylinder actuator are located on the same vertical line, and an ankle pitch axis bearing cover is installed on one side of the vertical line.

[0018] As a preferred technical solution of the present invention, the direct drive multi-way valve group is connected to the hip blade swing cylinder actuator, the hip yaw axis piston cylinder actuator, the knee pitch axis blade swing cylinder actuator, and the piston cylinder actuator through connecting hoses.

[0019] As a preferred technical solution of the present invention, the piston cylinder actuator includes a calf piston cylinder actuator cylinder body located on the calf structure. A calf piston cylinder actuator piston rod is installed at the bottom of the calf piston cylinder actuator cylinder body. One end of the calf piston cylinder actuator piston rod is connected to a calf piston cylinder actuator piston rod bearing. A calf double piston rod fixed shaft is installed inside the calf piston cylinder actuator piston rod bearing. A calf piston rod three-ear base is installed outside the calf double piston rod fixed shaft. The calf piston rod three-ear base is located on the foot plate structure.

[0020] As a preferred technical solution of the present invention, the hip Roll axis encoder, the encoder, the hip pitch axis encoder, and the knee pitch axis encoder are used to detect the angle and angular acceleration data of each joint and send the data to the control board.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] 1. High torque and high-speed output, improving dynamic performance

[0023] Precision blade swing cylinder actuators and piston cylinder actuators are adopted, manufactured by slow wire electrical discharge machining, achieving higher torque output and faster joint rotation speed (up to 500° / second at most), significantly superior to the traditional reducer-motor combination scheme.

[0024] Under the same volume, the output torque can reach at least twice that of the servo motor scheme, meeting the motion requirements of the robot in high-load and high-dynamic scenarios.

[0025] 2. Compact structure and few moving parts, reducing wear and improving heat dissipation

[0026] The precision blade swing cylinder is designed to directly complete the rotary motion in a closed cavity, with few moving parts and even fewer friction surfaces, thus greatly reducing mechanical wear and energy loss.

[0027] Due to the reduction in the number of moving parts and the shorter transmission chain, the heat dissipation conditions of the joint itself are improved, enabling stable performance to be maintained for a long time under high power consumption, avoiding problems such as overheating of the motor and reducer and emulsification of the lubricating oil.

[0028] 3. Precise position and torque control, with good dynamic response [[ID=,33]]

[0029] The servo motor controls the valve group to distribute the hydraulic oil flow and pressure to each actuator, and cooperates with the joint position and angle sensors to achieve closed-loop control, which can achieve high-precision position control and torque control.

[0030] Compared with planetary roller screw electric cylinders or flexible cable drives, hydraulic direct drive has smaller inertia and faster response speed, and is capable of handling high-burst motion scenarios such as jumping and emergency stops.

[0031] 4. Small electromagnetic field interference, suitable for the power industry

[0032] The present invention significantly reduces the use of high-power motors and their associated reducers, cables and other components, thereby lowering the overall electromagnetic radiation level.

[0033] The low electromagnetic field characteristics are particularly suitable for occasions with high requirements for electromagnetic compatibility, such as the power industry, and can reduce interference with surrounding equipment.

[0034] 5. Bionic design reduces terminal inertia and improves motion efficiency

[0035] By mimicking the distribution of fat in the human thigh, the heaviest servo valve group is placed on the outside of the thigh, reducing the movement inertia of the leg end and improving the robot's balance and flexibility in scenarios such as fast walking and running.

[0036] A combination of fixed steel pipes and hoses is used to arrange the pipelines between the leg joints, which simplifies the pipeline connections of the robot's lower limbs and reduces the interference of hoses on the joint movement space.

[0037] 6. The ankle joint axis is moved backward to improve load distribution and extend component life

[0038] The ankle joint rotation axis is moved backward appropriately to imitate the structure of the human ankle, so that the weight of the robot is more concentrated on the forefoot when standing, reducing the continuous impact on the ankle joint and other structural parts.

[0039] This design helps prevent hidden cracks or fatigue damage in structural parts under long-term high loads, thereby improving the durability and safety of the entire machine.

[0040] 7. Easy maintenance and replacement, reducing usage costs

[0041] The servo valve group is concentrated on the outside of the thigh, which is easy to inspect and replace; the swing cylinder and piston cylinder actuators have a compact structure and high durability, making daily maintenance and component replacement simpler.

[0042] It avoids components that are prone to wear and environmental sensitivity, such as flexible cables or lead screws, reduces dependence on external factors such as dust and humidity, and reduces maintenance frequency and costs.

[0043] 8. Balance between production efficiency and reliability

[0044] By combining traditional manufacturing methods with wire cutting, compared with the piston-cylinder solution of metal 3D printed housing, the present invention has more controllable costs during mass production and has more guaranteed manufacturing accuracy and strength.

[0045] The gap between the cavity and the blade can be kept in an extremely small range (≤0.003mm), which improves the hydraulic conversion efficiency and reduces the risk of internal leakage. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0047] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0048] Figure 2 is a front view of the hip joint of the present invention;

[0049] Figure 3 is a dorsal view of the hip joint of the present invention;

[0050] Figure 4 is a plan view of the hip joint of the present invention;

[0051] Figure 5 is an exploded view of the hip joint yaw angle actuator of the present invention;

[0052] Figure 6 This is a schematic diagram of the overall structure of the left thigh inner structure of the present invention;

[0053] Figure 7 This is a schematic diagram of the overall structure of the multi-way servo valve of the present invention;

[0054] Figure 8 It is a side view of the internal structure of the multi-way servo valve of the present invention;

[0055] Figure 9 It is a schematic diagram of the overall structure of the hip joint and knee joint pitch angle actuator of the present invention;

[0056] Figure 10 This invention Figure 9 Exploded view of the knee joint pitch actuator in Part A;

[0057] Figure 11 is a cross-sectional view of a thigh of the present invention;

[0058] Figure 12 It is a calf anatomy diagram of the present invention;

[0059] Figure 13 It is a rear view of the overall structure of the present invention;

[0060] In the figure: 1. Left hip joint Roll axis vane swing cylinder actuator; 2. Left hip joint pitch axis vane swing cylinder actuator; 3. Left direct drive multi-way valve group; 4. Left knee joint pitch axis vane swing cylinder actuator; 5. First left calf piston cylinder actuator; 6. Second left calf piston cylinder actuator; 7. Left foot; 8. Right hip joint Roll axis vane swing cylinder actuator; 9. Right hip joint pitch axis vane swing cylinder actuator; 10. Right direct drive multi-way valve group; 11. Right knee joint pitch axis vane swing cylinder actuator; 12. First right calf piston cylinder actuator; 13. Second right calf piston cylinder actuator; 14. Right foot; 15. Right hip joint yaw axis piston cylinder actuator; 16. Left hip joint yaw axis piston cylinder actuator

[0061] 17. Hip joint main frame; 18. Upper left joint seat; 19. Left hip joint Roll axis encoder; 20. Upper left hip joint bearing cover; 21. Left hip joint actuator trunnion; 22. Left hip joint rocker arm; 23. Lower left hip joint bearing cover; 24. Right hip joint yaw axis piston cylinder actuator pin shaft; 25. Lower left joint seat; 26. Upper right joint seat; 27. Right hip joint Roll axis encoder; 28. Upper right hip joint bearing cover; 29. Left hip joint yaw axis piston cylinder actuator pin shaft; 30. Right hip joint rocker arm; 31. Lower right joint seat; 32. Hip joint oil circuit distribution block; 33. Right hip joint roll axis yaw angle actuator; 34. Right hip joint piston rod Y-type seat fixing ring; 35. Right hip joint actuator trunnion; 36. Right hip joint piston rod Y-type seat; 37. Lower right hip joint bearing cover; 38. Left hip joint piston rod Y-type seat; 39. Left hip joint roll axis yaw angle actuator; 39-1. Left hip joint piston rod Y-type seat fixing ring; 40. Lower left piston cylinder adapter; 41. Lower right swing cylinder adapter; 42. Lower left swing cylinder adapter; 43. Lower right piston cylinder adapter; 44. Upper left piston cylinder adapter; 45. Upper right swing cylinder adapter; 46. Upper left swing cylinder adapter; 47. Upper right piston cylinder adapter; 50. Left hip joint piston rod; 51. Right hip joint piston rod; 52. Connection pipe head between the first left hip joint swing cylinder and the valve group; 53. Connection pipe head between the first left hip joint piston cylinder and the valve group; 54. Connection pipe head between the second left hip joint swing cylinder and the valve group; 55. Connection pipe head between the second left hip joint piston cylinder and the valve group; 56. Connection pipe head between the first right hip joint piston cylinder and the valve group; 57. Connection pipe head between the first right hip joint swing cylinder and the valve group; 58. Connection pipe head between the second right hip joint swing cylinder and the valve group; 59. Connection pipe head between the second right hip joint piston cylinder and the valve group;

[0062] 60. Second hip joint roll axis vane oscillating cylinder oil port 61. First hip joint roll axis vane oscillating cylinder oil port 62. Rocker arm stop piece 63. Oscillating cylinder bearing cover 64. Bearing 65. Oscillating cylinder front cover centering cover 66. Front axle sealing ring 67. Front centering cover sealing ring 68. Oscillating cylinder block 69. Rear end cover sealing ring 70. Oscillating cylinder shaft 71. Sealing piece 72. Rear axle seal 73. Rear end cover 74. Bearing 75. Oscillating cylinder rear bearing cover 76. Encoder;

[0063] 77. First oil inlet pipeline of hip joint pitch axis oscillating cylinder 78. Second oil inlet pipeline of hip joint pitch axis oscillating cylinder 79. First oil inlet pipeline of knee joint pitch axis oscillating cylinder 80. Second oil inlet pipeline of knee joint pitch axis oscillating cylinder 81. First oil inlet pipeline of first hip joint yaw axis piston cylinder 82. Second oil inlet pipeline of second hip joint yaw axis piston cylinder 83. Oil inlet pipeline of second hip joint roll axis oscillating cylinder 84. Oil inlet pipeline of first hip joint roll axis oscillating cylinder 85. Main oil inlet pipeline of direct drive valve group 86. Main oil return pipeline of direct drive valve group 87. Knee joint encoder protection shell 88. First anti-rotation piece of knee joint 94. Ankle joint roll axis encoder 95. Ankle joint pitch axis bearing cover 96. Rear bearing cover of ankle joint roll axis;

[0064] 97. Front cover plate of direct drive valve group 98. Front sealing ring of valve core 99. Valve core 99-1. Valve body 100. Servo reduction motor of valve core 101. Rear oil pipe joint of first calf piston cylinder 102. Rear oil pipe joint of second calf piston cylinder 103. Front oil pipe joint of first calf piston cylinder 104. Front oil pipe joint of second calf piston cylinder 105. Joint of main oil inlet pipeline of valve group 106. Slide block driven by valve core chute 107. Servo motor rudder arm pin 108. Servo motor rudder arm 109. Servo motor gasket 110. First pipeline joint of knee joint pitch axis oscillating cylinder 111. Second inlet pipeline joint of hip joint pitch axis oscillating cylinder 112. Pipeline joint of first hip joint roll axis oscillating cylinder 113. Pipeline joint of second hip joint yaw axis piston cylinder 114. Second pipeline joint of knee joint pitch axis oscillating cylinder 115. First inlet pipeline joint of hip joint pitch axis oscillating cylinder 116. Pipeline joint of first hip joint yaw axis piston cylinder 117. Pipeline joint of second hip joint roll axis oscillating cylinder 118. Rear dust-proof ring of valve core 119. Rear sealing ring of valve core 120. Main oil return hole 121. First oil drain hole 122. Oil inlet hole 123. Second oil drain hole 124. Servo motor base 125. Servo motor reduction gear set 126. Servo motor potentiometer 127. Control board 128. Motor 129. Upper shell of servo motor 130. Middle shell of servo motor 131. Bottom shell of servo motor

[0065] 132. Hip joint pitch axis swing cylinder encoder protection cover 133. Hip joint pitch axis encoder 134. Outer dust-proof sealing ring of hip joint pitch axis swing cylinder. 135. Centering cover of hip joint pitch axis swing cylinder 136. Positioning pin of hip joint pitch axis swing cylinder 137. Outer shaft sealing ring of hip joint pitch axis swing cylinder 138. Outer bearing of hip joint pitch axis swing cylinder 139. Shaft of hip joint pitch axis swing cylinder 140. Sealing ring of centering cover of hip joint pitch axis swing cylinder 141. Cylinder block of hip joint pitch axis swing cylinder 142. Tail cover sealing ring of hip joint pitch axis swing cylinder 143. Inner bearing of hip joint pitch axis swing cylinder 144. Inner shaft sealing ring of hip joint pitch axis swing cylinder 145. Tail cover of hip joint pitch axis swing cylinder 146. Damper of hip joint pitch axis swing cylinder 147. Oil inlet pipeline joint of hip joint pitch axis swing cylinder 148. Inner dust-proof sealing ring of hip joint pitch axis swing cylinder 149. Outer fixing nut of knee joint pitch axis swing cylinder 150. Outer dust-proof sealing ring of knee joint pitch axis swing cylinder 151. Centering cover of knee joint pitch axis swing cylinder 152. Positioning pin of knee joint pitch axis swing cylinder 153. Outer shaft sealing ring of knee joint pitch axis swing cylinder 154. Outer bearing of knee joint pitch axis swing cylinder. 155. Shaft of knee joint pitch axis swing cylinder 156. Cylinder block of knee joint pitch axis swing cylinder 157. Inner bearing of knee joint pitch axis swing cylinder 158. Inner shaft sealing ring of knee joint pitch axis swing cylinder 159. Tail cover of knee joint pitch axis swing cylinder 160. Oil inlet pipeline joint of knee joint pitch axis swing cylinder 161. Damper of knee joint pitch axis swing cylinder 162. Inner dust-proof sealing ring of knee joint pitch axis swing cylinder 163. Encoder of knee joint pitch axis swing cylinder 164. Inner fixing nut of knee joint pitch axis swing cylinder 165. Tail cover sealing ring of knee joint pitch axis swing cylinder 166. Sealing ring of centering cover of knee joint pitch axis swing cylinder

[0066] 167. Hip joint pitch axis swing cylinder block sealing rod 168. Hip joint pitch axis swing cylinder block sealing piece 169. Hip joint pitch axis swing cylinder limit block fixing bolt 171. Hip joint pitch axis swing cylinder vane 172. Hip joint pitch axis swing cylinder vane fixing bolt 173. Hip joint pitch axis swing cylinder vane sealing rod 174. Hip joint pitch axis swing cylinder vane sealing piece 175. Knee joint pitch axis swing cylinder block sealing rod 176. Knee joint pitch axis swing cylinder block sealing piece 177. Knee joint pitch axis swing cylinder vane sealing piece 178. Knee joint pitch axis swing cylinder vane sealing piece 179. Knee joint pitch axis swing cylinder vane 180. Knee joint pitch axis swing cylinder vane fixing bolt 181. Knee joint pitch axis swing cylinder limit block 182. Knee joint pitch axis swing cylinder limit block fixing bolt

[0067] 183. Second anti-rotation piece of knee joint 184. Calf piston cylinder fixed shaft limit bolt 185. Calf piston cylinder fixed shaft 186. Ankle joint pitch axis encoder 187. Ankle joint cross shaft 188. Cross shaft support seat 189. Three-ear base of calf piston rod 190. Calf double piston rod fixed shaft 191. Calf piston cylinder actuator cylinder block 192. Front hose joint of calf piston cylinder actuator 193. Rear hose joint of calf piston cylinder actuator 194. End cover of calf piston cylinder actuator 195. Piston rod of calf piston cylinder actuator 196. Piston rod bearing of calf piston cylinder actuator 197. Piston of calf piston cylinder actuator 202. Connecting hose between the first hip joint swing cylinder and the valve group 203. Connecting hose between the first hip joint piston cylinder and the valve group 204. Connecting hose between the second hip joint piston cylinder and the valve group 205. Connecting hose between the second hip joint swing cylinder and the valve group 206. Outer thigh plate 207. Inner thigh plate 210. Front side hose connecting the second calf piston cylinder actuator and the valve group 211. Rear side hose connecting the first calf piston cylinder actuator and the valve group 212. Rear side hose connecting the second calf piston cylinder actuator and the valve group 213. Front side hose connecting the first calf piston cylinder actuator and the valve group 214. Calf skeleton housing Detailed implementation manners

[0068] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustration and explanation of the present invention, and are not used to limit the present invention.

[0069] In addition, if the detailed description of the known technology is unnecessary for showing the features of the present invention, it will be omitted.

[0070] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0071] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0072] Embodiment 1

[0073] As Figures 1-13 shown, the present invention provides a hydraulic humanoid robot leg structure driven by a vane swing cylinder and a direct drive valve group, including a thigh structure, a calf structure, and a foot plate structure (left foot 7 and right foot 14). A direct drive multi-way valve group is mounted on the thigh structure. The direct drive multi-way valve group includes a left direct drive multi-way valve group 3 and a right direct drive multi-way valve group 10. The left direct drive multi-way valve group 3 and the right direct drive multi-way valve group 10 are respectively located on the left and right sides of the thigh structure. An actuator of the hip joint vane swing cylinder and an actuator of the hip joint yaw axis piston cylinder are mounted at the end of the thigh structure. An actuator of the knee joint pitch axis vane swing cylinder (right knee joint pitch axis vane swing cylinder actuator 11 and left knee joint pitch axis vane swing cylinder actuator 4) is mounted at the end of the calf structure. Piston cylinder actuators (left calf first piston cylinder actuator 5, left calf second piston cylinder actuator 6, right calf first piston cylinder actuator 12, and right calf second piston cylinder actuator 13) are mounted on the calf structure. The direct drive multi-way valve group 3 is respectively connected to the actuator of the hip joint vane swing cylinder, the actuator of the hip joint yaw axis piston cylinder, the actuator of the knee joint pitch axis vane swing cylinder, and the piston cylinder actuator.

[0074] The hip joint vane swing cylinder actuator includes a hip joint Roll axis vane swing cylinder actuator (left hip joint Roll axis vane swing cylinder actuator 1 and right hip joint Roll axis vane swing cylinder actuator 8), and a hip joint pitch axis vane swing cylinder actuator (left hip joint pitch axis vane swing cylinder actuator 2 and right hip joint pitch axis vane swing cylinder actuator 9). The hip joint yaw axis piston cylinder actuator includes a right hip joint yaw axis piston cylinder actuator 15 and a left hip joint yaw axis piston cylinder actuator 16. The right hip joint yaw axis piston cylinder actuator 15 and the left hip joint yaw axis piston cylinder actuator 16 present an overlapping X-shaped layout. The sizes of the hip joint Roll axis vane swing cylinder actuator, the hip joint pitch axis vane swing cylinder actuator, and the knee joint pitch axis vane swing cylinder actuator are all different.

[0075] A hip joint main frame 17 is installed between the hip joint yaw axis piston cylinder actuators. One end of the hip joint yaw axis piston cylinder actuator is installed with a hip joint piston rod (right hip joint piston rod 36 and left hip joint piston rod 38). On both sides of the hip joint main frame 17, hip joint Roll axis vane swing cylinder actuators are installed (left hip joint roll axis yaw angle actuator 39 and right hip joint roll axis yaw angle actuator 33). On the top of the hip joint Roll axis vane swing cylinder actuator, hip joint Roll axis encoders are installed (left hip joint Roll axis encoder 19 and right hip joint Roll axis encoder 27). On the outside of the hip joint Roll axis vane swing cylinder actuator, hip joint actuator trunnions are installed (right hip joint actuator trunnion 35 and left hip joint actuator trunnion 21). On the outside of the hip joint actuator trunnion, hip joint rocker arms are installed (left hip joint rocker arm 22 and right hip joint rocker arm 30). A hip joint oil circuit distribution block 32 is installed on the hip joint main frame 17, and connection pipe heads of the piston cylinder and the valve group are distributed on the hip joint oil circuit distribution block 32.

[0076] The hip joint Roll axis vane swing cylinder actuator includes a swing cylinder block 68. On one side of the swing cylinder block 68, a rear end cover 73 is installed. A swing cylinder shaft 70 is installed between the rear end cover 73 and the swing cylinder block 68. On the other side of the swing cylinder block 68, a swing cylinder front cover centering cover 65 is installed. On one side of the swing cylinder front cover centering cover 65, a swing cylinder bearing cover 63 is installed. On one side of the swing cylinder bearing cover 63, a rocker arm stop piece 62 is installed. On one side of the rear end cover 73, an encoder 76 is installed.

[0077] The direct-drive multi-way valve group includes a spool servo reduction motor 100. The spool servo reduction motor 100 includes a motor 128 and a control board 127. The control board 127 is installed on one side of the motor 128. The servo motor potentiometer 126 is installed at the bottom of the control board 127. The servo motor reduction gear set 125 is installed at the bottom of the servo motor potentiometer 126. The servo motor base 124 is installed at the bottom of the servo motor reduction gear set 125. The valve body 99-1 is installed at the bottom of the spool servo reduction motor 100. The servo motor rudder arm 108 is installed inside one end of the valve body 99-1 where the spool servo reduction motor 100 is located. The servo motor rudder arm pin 107 is installed at the bottom of the servo motor rudder arm 108. The spool chute drive slider 106 is installed at the bottom of the servo motor rudder arm pin 107. The spool 99 is installed on one side of the spool chute drive slider 106. The direct-drive valve group front cover 97 is installed on one side of the spool 99. The valve group main oil inlet pipe joint, piston cylinder oil pipe joint and swing cylinder oil pipe joint are distributed on the spool 99.

[0078] The hip joint pitch axis vane swing cylinder actuator includes a hip joint pitch axis swing cylinder body 141. The hip joint pitch axis swing cylinder centering cover 135 is installed on one side of the hip joint pitch axis swing cylinder body 141. The hip joint pitch axis swing cylinder shaft 139 is installed between the hip joint pitch axis swing cylinder centering cover 135 and the hip joint pitch axis swing cylinder body 141. The hip joint pitch axis swing cylinder end cover 145 is installed on the other side of the hip joint pitch axis swing cylinder body 141. The hip joint pitch axis swing cylinder damper 146 is distributed on the hip joint pitch axis swing cylinder end cover 145. The hip joint pitch axis swing cylinder oil inlet pipe joint 147 is installed on the hip joint pitch axis swing cylinder damper 146. The hip joint pitch axis encoder 133 is installed on one side of the hip joint pitch axis swing cylinder centering cover 135.

[0079] The knee joint pitch axis vane swing cylinder actuator includes a knee joint pitch axis swing cylinder body 156. The knee joint pitch axis swing cylinder centering cover 151 is installed on one side of the knee joint pitch axis swing cylinder body 156. The knee joint pitch axis swing cylinder shaft 155 is installed between the knee joint pitch axis swing cylinder centering cover 151 and the knee joint pitch axis swing cylinder body 156. The knee joint pitch axis swing cylinder end cover 159 is installed on the other side of the knee joint pitch axis swing cylinder body 156. The knee joint pitch axis swing cylinder damper 161 is distributed on the knee joint pitch axis swing cylinder end cover 159. The knee joint pitch axis encoder 160 is installed on the knee joint pitch axis swing cylinder end cover 159.

[0080] The hip joint pitch axis vane swing cylinder actuator and the knee joint pitch axis vane swing cylinder actuator are located on the same vertical plumb line, and an ankle joint pitch axis bearing cover 95 is installed on one side of the vertical plumb line.

[0081] The direct drive multi-way valve group is connected to the hip joint vane swing cylinder actuator, the hip joint yaw axis piston cylinder actuator, the knee joint pitch axis vane swing cylinder actuator, and the piston cylinder actuator through connecting hoses.

[0082] The piston cylinder actuator includes a calf piston cylinder actuator cylinder block 191 located on the calf structure. A calf piston cylinder actuator piston rod 195 is installed at the bottom of the calf piston cylinder actuator cylinder block 191. One end of the calf piston cylinder actuator piston rod 195 is connected to a calf piston cylinder actuator piston rod bearing 196. A calf double piston rod fixed shaft 190 is installed inside the calf piston cylinder actuator piston rod bearing 196. A calf piston rod three-ear base 189 is installed outside the calf double piston rod fixed shaft 190, and the calf piston rod three-ear base 189 is located on the foot plate structure.

[0083] The hip joint Roll axis encoder, encoder 76, hip joint pitch axis encoder 133, and knee joint pitch axis encoder 160 are used to detect data on the angles and angular accelerations of each joint and send the data to the control board.

[0084] Specifically, the actuator of this invention has a torque and rotational speed far higher than those of the reducer motor joint actuators used in existing humanoid robots (at least twice the torque of a servo motor of the same volume, and the speed can reach up to 500° / second at most). It has the fewest moving parts reduced, achieving efficient heat dissipation of the joints and extremely low wear performance. The joints are driven by a valve group controlled by a servo motor, enabling precise position and torque control, and having excellent mobility under high power consumption. The whole machine has the smallest electromagnetic field and can meet the requirements of the power industry.

[0085] This invention applies the bionics principle, imitating the distribution of human thigh fat, concentrating the heaviest servo valve group on the outer side of the thigh, reducing the movement inertia at the end of the leg, improving the balance performance and movement speed of the lower limbs of the robot, and facilitating daily maintenance and replacement of worn components.

[0086] The posterior shift of the ankle joint rotation axis simulates the human ankle structure, enabling the weight of the robot when standing to be conducted through the calf piston cylinder actuator and concentrated on the front sole, ensuring the minimum load on the structural components under normal conditions of the robot and avoiding potential cracking of the structural component materials caused by long-term impacts.

[0087] After the hydraulic oil from the hydraulic pump enters the lower limbs of the robot, it first enters the multi-way direct drive valve groups on both sides of the thigh. After being distributed by the valve groups, it enters each swing cylinder and piston cylinder actuator. The servo motors of the valve groups control the precise flow of the hydraulic oil to adjust the motion state of the robot. Encoders (i.e., angle sensors) installed at each joint obtain data such as the angles and angular accelerations of each joint, and feedback them to the control single-chip microcomputer of the valve group. The single-chip microcomputer adjusts the motion state of the servo motors of the valve group, precisely controls the oil supply of each actuator, and forms a closed-loop control.

[0088] The pipelines inside the thigh are fixed steel pipes, and the connection of each external limb relies on hose connection. The pipeline joints are centrally arranged so that the hoses will not interfere with the motion space of the robot's legs.

[0089] The vane swing cylinder actuator controls the hydraulic oil to drive the vane to swing in the precision-machined cavity through the multi-way direct drive valve group, converts hydraulic energy into rotational mechanical energy, and directly outputs high torque and high-speed motion; it uses the slow wire cutting process to ensure that the gap between the cavity and the vane is ≤0.003mm. A damper is installed at each of the two oil inlets of the swing cylinders of the knee joint and the hip joint pitch axis. The function of the damper is to prevent the rotation of the leg joints from driving the vane to hit the cylinder body when the robot is moving rapidly; there are two oil holes on the end cover of the swing cylinder. When the vane rotates to about 5 degrees away from the cylinder body, the vane will block the first oil hole, and the second oil hole is connected to the damper. The damper has a much greater oil return resistance than the oil inlet resistance, which can make the vane rotate more slowly in the last 5 degrees. After reaching the limit, the vane will block half of the second oil inlet, without affecting the oil inlet and the reverse movement of the vane again. The sealing rod is in the groove and will continuously press the outer sealing piece under the push of the hydraulic oil pressure on one side to achieve the purpose of sealing during continuous rotation.

[0090] The parallel hydraulic piston cylinder actuator of the calf can control the roll and pitch axis movements of the ankle, the pitch axis movements of the knee joint and the hip joint, and three types of vane swing cylinder actuators with different sizes are designed for the pitch axis of the knee joint and the hip joint. A piston cylinder actuator with an "X" - shaped layout of upper and lower overlapping is designed for the yaw axis of the hip joint.

[0091] By adopting a hydraulic drive solution that combines precise vane swing cylinders and piston cylinders, and concentrating the servo valve group on the outside of the thigh, the present invention successfully overcomes the defects of existing technical solutions such as reducer motor drive, ball screw electric cylinder, and traditional hydraulic piston cylinder in high load, high-speed motion, and long-term use. Its characteristics such as high torque output, high-speed rotation, excellent heat dissipation and durability, and low electromagnetic interference provide higher flexibility, reliability, and adaptability for the lower limb structure of humanoid robots.

[0092] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A hydraulic humanoid robot leg structure driven by a vane swing cylinder and a direct drive valve group, comprising a thigh structure, a calf structure and a foot plate structure, characterized in that, A direct drive multi-way valve group is installed on the thigh structure. The direct drive multi-way valve group includes a left direct drive multi-way valve group and a right direct drive multi-way valve group. The left direct drive multi-way valve group and the right direct drive multi-way valve group are respectively located on the left and right sides of the thigh structure. An actuator of a hip joint vane swing cylinder and an actuator of a hip joint yaw axis piston cylinder are installed at the end of the thigh structure. An actuator of a knee joint pitch axis vane swing cylinder is installed at the end of the calf structure. A piston cylinder actuator is installed on the calf structure. The direct drive multi-way valve group is respectively connected to the actuator of the hip joint vane swing cylinder, the actuator of the hip joint yaw axis piston cylinder, the actuator of the knee joint pitch axis vane swing cylinder, and the piston cylinder actuator.

2. The leg structure of a hydraulic humanoid robot driven by a vane swing cylinder and a direct drive valve group according to claim 1, wherein, The actuator of the hip joint vane swing cylinder includes an actuator of a hip joint Roll axis vane swing cylinder and an actuator of a hip joint pitch axis vane swing cylinder. The actuator of the hip joint yaw axis piston cylinder includes a right hip joint yaw axis piston cylinder actuator and a left hip joint yaw axis piston cylinder actuator. The right hip joint yaw axis piston cylinder actuator and the left hip joint yaw axis piston cylinder actuator present an overlapping x-shaped layout. The sizes of the actuator of the hip joint Roll axis vane swing cylinder, the actuator of the hip joint pitch axis vane swing cylinder, and the actuator of the knee joint pitch axis vane swing cylinder are all different.

3. A hydraulic humanoid robot leg structure driven by a vane swing cylinder and a direct drive valve group according to claim 2, characterized in that, A hip joint main frame is installed between the actuators of the hip joint yaw axis piston cylinder. A hip joint piston rod is installed at one end of the actuator of the hip joint yaw axis piston cylinder. Actuators of the hip joint Roll axis vane swing cylinder are installed on both sides of the hip joint main frame. A hip joint Roll axis encoder is installed at the top of the actuator of the hip joint Roll axis vane swing cylinder. A hip joint actuator trunnion is installed outside the actuator of the hip joint Roll axis vane swing cylinder. A hip joint rocker arm is installed outside the hip joint actuator trunnion. A hip joint oil circuit distribution block is installed on the hip joint main frame. Connection pipe heads of the piston cylinder and the valve group are distributed on the hip joint oil circuit distribution block.

4. A hydraulic humanoid robot leg structure driven by a vane swing cylinder and a direct drive valve group according to claim 3, characterized in that, The actuator of the hip joint Roll axis vane swing cylinder includes a swing cylinder body. A rear end cover is installed on one side of the swing cylinder body. A swing cylinder shaft is installed between the rear end cover and the swing cylinder body. A swing cylinder front cover centering cover is installed on the other side of the swing cylinder body. A swing cylinder bearing cover is installed on one side of the swing cylinder front cover centering cover. A rocker arm stop piece is installed on one side of the swing cylinder bearing cover. An encoder is installed on one side of the rear end cover.

5. A hydraulic humanoid robot leg structure driven by a vane swing cylinder and a direct drive valve group according to claim 4, characterized in that The direct-drive multi-way valve group includes a spool servo reduction motor, and the spool servo reduction motor includes a motor and a control board. The control board is installed on one side of the motor. A servo motor potentiometer is installed at the bottom of the control board. A servo motor reduction gear set is installed at the bottom of the servo motor potentiometer. A servo motor seat is installed at the bottom of the servo motor reduction gear set. A valve body is installed at the bottom of the spool servo reduction motor. A servo motor rudder arm is installed inside one end of the valve body where the spool servo reduction motor is located. A servo motor rudder arm pin is installed at the bottom of the servo motor rudder arm. A spool chute drive slider is installed at the bottom of the servo motor rudder arm pin. A spool is installed on one side of the spool chute drive slider. A direct-drive valve group front cover is installed on one side of the spool. Valve group main oil inlet pipe joints, piston cylinder oil pipe joints, and swing cylinder oil pipe joints are distributed on the spool.

6. A hydraulic humanoid robot leg structure driven by a vane swing cylinder and a direct drive valve group according to claim 5, characterized in that, The hip pitch-axis vane swing cylinder actuator includes a hip pitch-axis swing cylinder body. A hip pitch-axis swing cylinder centering cover is installed on one side of the hip pitch-axis swing cylinder body. A hip pitch-axis swing cylinder shaft is installed between the hip pitch-axis swing cylinder centering cover and the hip pitch-axis swing cylinder body. A hip pitch-axis swing cylinder end cover is installed on the other side of the hip pitch-axis swing cylinder body. Hip pitch-axis swing cylinder dampers are distributed on the hip pitch-axis swing cylinder end cover. A hip pitch-axis swing cylinder oil inlet pipe joint is installed on the hip pitch-axis swing cylinder damper. A hip pitch-axis encoder is installed on one side of the hip pitch-axis swing cylinder centering cover. The knee pitch-axis vane swing cylinder actuator includes a knee pitch-axis swing cylinder body. A knee pitch-axis swing cylinder centering cover is installed on one side of the knee pitch-axis swing cylinder body. A knee pitch-axis swing cylinder shaft is installed between the knee pitch-axis swing cylinder centering cover and the knee pitch-axis swing cylinder body. A knee pitch-axis swing cylinder end cover is installed on the other side of the knee pitch-axis swing cylinder body. Knee pitch-axis swing cylinder dampers are distributed on the knee pitch-axis swing cylinder end cover. A knee pitch-axis encoder is installed on the knee pitch-axis swing cylinder end cover.

7. A hydraulic humanoid robot leg structure driven by a vane swing cylinder and a direct drive valve group according to claim 1, characterized in that, The hip pitch-axis vane swing cylinder actuator and the knee pitch-axis vane swing cylinder actuator are located on the same vertical line, and an ankle pitch-axis bearing cover is installed on one side of the vertical line.

8. A hydraulic humanoid robot leg structure driven by a vane swing cylinder and a direct drive valve group according to claim 1, characterized in that The direct-drive multi-way valve group is connected to the hip vane swing cylinder actuator, hip yaw-axis piston cylinder actuator, knee pitch-axis vane swing cylinder actuator, and piston cylinder actuator through connecting hoses.

9. The hydraulic humanoid robot leg structure driven by a vane swing cylinder and a direct drive valve group according to claim 1, characterized in that, The piston cylinder actuator includes a calf piston cylinder actuator cylinder body located on the calf structure. A calf piston cylinder actuator piston rod is installed at the bottom of the calf piston cylinder actuator cylinder body. One end of the calf piston cylinder actuator piston rod is connected to a calf piston cylinder actuator piston rod bearing. A calf double piston rod fixed shaft is installed inside the calf piston cylinder actuator piston rod bearing. A calf piston rod three-ear base is installed outside the calf double piston rod fixed shaft. The calf piston rod three-ear base is located on the foot plate structure.

10. A hydraulic humanoid robot leg structure driven by a vane swing cylinder and a direct drive valve group according to claim 6, characterized in that, The hip joint Roll axis encoder, encoder, hip joint pitch axis encoder, and knee joint pitch axis encoder are used to detect the angle and angular acceleration data of each joint and send the data to the control board.

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